This paper investigates the formation keeping problem of heterogeneous ships with underactuated inputs, uncertain dynamics, and environmental disturbances. The control objective is to make followers keep desired while tracking a leader. To solve effectively, novel virtual leader–follower scheme considering ship heterogeneity proposed by utilizing backstepping method, adaptive neural network, la...

This paper investigates geometric stability and L p-stability of discrete-time Markov chains associated with closed and open queueing networks with Markovian routing. By geometric stability (resp. L p-stability) we mean that the chain is re-generative in the Harris-recurrent sense and that the times between the successive regeneration points have a bounded moment generating function (resp. a bo...

This paper presents a neural network based decentralized excitation controller design for large-scale power systems. The proposed controller design considers not only the dynamics of generators but also the algebraic constraints of the power flow equations. The control signals are calculated using only local signals. The transient stability and the coordination of the subsystem control activiti...

In this paper, a robust adaptive control scheme is proposed for robot manipulators. The structure of controller is based on the regressor-based form of the robot model. The presented control scheme does not require a priori any knowledge for uncertainty bounds. The global stability of the closed-loop system is guaranteed by using the Lyapunov stability approach. Furthermore, in the presence of ...

This paper presents the mathematical model and control of voltage source inverter (VSI) connected to an alternating current (AC) microgrid. The VSI used in this work was a six-switch three-phase PWM inverter, whose output voltages were controlled synchronous (dq) reference frame via sliding mode strategy. strategy required only voltages; other states system estimated by using high-gain observer...

In this paper, we propose an observer-based visual pursuit control integrating three-dimensional target motion learning by Gaussian Process Regression (GPR). We consider a situation where sensor equipped rigid body pursuits whose velocity is unknown but dependent on the target's pose. estimate pose from information and (GP) model to predict estimate. analyse stability of proposed showing that e...

In this article, we propose a new observer design for systems whose output is sampled in an aperiodic and asynchronous way which continuous-time homogeneous of negative degree available. The proposed method consists adapting the existing order to cope with fact that only measurements are available instead continuous ones. obtained error shown be globally uniformly ultimately bounded any upper b...

In practice, the unbalanced mass of propeller is leading cause vibration in a quadcopter. Therefore, this paper proposes an additive-state-decomposition notch dynamic inversion controller to suppress noise. Firstly, mechanics model based on established and its characteristic frequency analyzed. Then, specific form filter designed, taken as internal parameter. Next, stability analysis shows that...

In this paper, global uniform exponential stability of perturbed dynamical systems is studied by using Lyapunov techniques. The system presents a perturbation term which is bounded by an integrable function with the assumption that the nominal system is globally uniformly exponentially stable. Some examples in dimensional two are given to illustrate the applicability of the main results.